function [] = StateToText(S, num_players_r, num_players_b)

B = S{1};
B_X = B{1}(1);
B_Y = B{1}(2);

disp(sprintf('B_X: %s B_Y: %s \n', num2str(B_X), num2str(B_Y)));

for i = 1:(num_players_r+num_players_b),
    Pk = S{i+1};
    Pk_X = Pk{1}(1);
    Pk_Y = Pk{1}(2);
    Pk_theta = Pk{1}(3);
    Pk_num = Pk{3};
    
    ang = AngleToBall(Pk,S,'f');
    distance = euc_dist(B_X, B_Y, Pk_X, Pk_Y);
    
    if (i <= num_players_r)
        disp(sprintf('Player %s | X = %s Y = %s theta = %s | distance = %s ang = %s \n',num2str(Pk_num),num2str(Pk_X), num2str(Pk_Y), num2str(Pk_theta), num2str(distance), num2str(ang)));
    else
        disp(sprintf('Opponent %s | X = %s Y = %s theta = %s | distance = %s ang = %s \n',num2str(Pk_num),num2str(Pk_X), num2str(Pk_Y), num2str(Pk_theta), num2str(distance), num2str(ang)));
    end

end    

end